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Identify the parameters that determine the position of every link at any time. You may label the link lengths as L 1 , L 2

Identify the parameters that determine the position of every link at any time. You may label the link lengths as L1, L2, etc, and the angles as well. h form the vector loop or loops, write them in a complex form, and write the unknowns. Note: Do not expand the vector loop equation or differentiate it. Only identify the unknowns for each loop and make sure you have enough equations to solve them
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